{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/70152"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/70152","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Robust Yaw/roll Control of High-Speed Containerships","abstract":"This thesis proposes a controller design for high-speed containerships with aggravated yaw/roll characteristics. With the trend of higher superstructures, low density cargo, and the deck loading of containerships, major problems have arisen in regard to roll motion stabilization. To minimize the yaw/roll coupling effect on the course-keeping mode, the multivariable (MV) approach was applied. The objective was to employ the minimum number of new sensors and actuators to obtain reasonable operating results. Hence, rudder-only control and rudder/fin control were introduced. Using comprehensive models that modeled yaw, sway, surge, and roll; and all significant coupling modes, a new performance index was established and an effective controller was designed to obtain the maximum results from rudder and fin input signals. This was a true first, for other researchers having ignored certain dynamics, were designing autopilots which were issuing inherently conflicting control signals. This thesis work demonstrated the effectiveness of each manner of control, as well as, the MV design approach itself.","abstract_html":"This thesis proposes a controller design for high-speed containerships with aggravated yaw/roll characteristics. With the trend of higher superstructures, low density cargo, and the deck loading of containerships, major problems have arisen in regard to roll motion stabilization. To minimize the yaw/roll coupling effect on the course-keeping mode, the multivariable (MV) approach was applied. The objective was to employ the minimum number of new sensors and actuators to obtain reasonable operating results. Hence, rudder-only control and rudder/fin control were introduced. Using comprehensive models that modeled yaw, sway, surge, and roll; and all significant coupling modes, a new performance index was established and an effective controller was designed to obtain the maximum results from rudder and fin input signals. This was a true first, for other researchers having ignored certain dynamics, were designing autopilots which were issuing inherently conflicting control signals. This thesis work demonstrated the effectiveness of each manner of control, as well as, the MV design approach itself.","abstract_has_math":false,"creators":["Magerko, John Alexander, Jr"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014-12-15T21:41:35Z","date_published":"2014-12-15T21:41:35Z","updated_at":"2026-07-22T22:26:02Z","subjects":["Engineering, System Science"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(UMI)AAI8823189"],"render_values":[{"text":"(UMI)AAI8823189","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/70152","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Magerko, John Alexander, Jr"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2014-12-15T21:41:35Z","10000-01-01","1988"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, System Science"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/70152","(UMI)AAI8823189"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis proposes a controller design for high-speed containerships with aggravated yaw/roll characteristics. With the trend of higher superstructures, low density cargo, and the deck loading of containerships, major problems have arisen in regard to roll motion stabilization. To minimize the yaw/roll coupling effect on the course-keeping mode, the multivariable (MV) approach was applied. The objective was to employ the minimum number of new sensors and actuators to obtain reasonable operating results. Hence, rudder-only control and rudder/fin control were introduced. Using comprehensive models that modeled yaw, sway, surge, and roll; and all significant coupling modes, a new performance index was established and an effective controller was designed to obtain the maximum results from rudder and fin input signals. This was a true first, for other researchers having ignored certain dynamics, were designing autopilots which were issuing inherently conflicting control signals. This thesis work demonstrated the effectiveness of each manner of control, as well as, the MV design approach itself.","The proposed controller design for high-speed containerships used various frequency-domain forms of the system to interpret state-space models and the Linear Quadratic Gaussian control design approach. The dual perspectives of time-domain and frequency-domain viewpoints allow a closer look at both the performance and robustness issues of control as done in classical single input/single output (SISO) control methods. For instance, the performance index once viewed in terms of frequency was shown to be an index penalizing key parameters such as the return difference matrix and its complement. Generalizing classical single-input and single-output methods, prescriptions for good multivariable feedback control were obtained and used to choose/modify the appropriate penalty matrices. Consequently, dynamic compensation resulted, allowing the use of generalized classical ideas on loop gain shaping to be applied. Further, the mu "norm" was introduced to obtain a nonconservative measure of stability robustness, thus allowing for the realization of a practical controller. And finally, due to the analytic nature of the approach, reliable and convenient computer tools were necessary and subsequently developed based on those found in Honeywell's HoneyX$\\sp{\\rm TM}$ library.","Made available in DSpace on 2014-12-15T21:41:35Z (GMT). No. of bitstreams: 1 8823189.pdf: 5933147 bytes, checksum: eda28b6377b5ef028c9c4a40022dd6d8 (MD5) Previous issue date: 1988","Embargo set by: Seth Robbins for item 70318 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","254 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1988."]},{"key":"dc:title","label":"Title","values":["Robust Yaw/roll Control of High-Speed Containerships"]}]}],"canonical_facts":{"dc:creator":["Magerko, John Alexander, Jr"],"dc:date":["2014-12-15T21:41:35Z","10000-01-01","1988"],"dc:description":["This thesis proposes a controller design for high-speed containerships with aggravated yaw/roll characteristics. With the trend of higher superstructures, low density cargo, and the deck loading of containerships, major problems have arisen in regard to roll motion stabilization. To minimize the yaw/roll coupling effect on the course-keeping mode, the multivariable (MV) approach was applied. The objective was to employ the minimum number of new sensors and actuators to obtain reasonable operating results. Hence, rudder-only control and rudder/fin control were introduced. Using comprehensive models that modeled yaw, sway, surge, and roll; and all significant coupling modes, a new performance index was established and an effective controller was designed to obtain the maximum results from rudder and fin input signals. This was a true first, for other researchers having ignored certain dynamics, were designing autopilots which were issuing inherently conflicting control signals. This thesis work demonstrated the effectiveness of each manner of control, as well as, the MV design approach itself.","The proposed controller design for high-speed containerships used various frequency-domain forms of the system to interpret state-space models and the Linear Quadratic Gaussian control design approach. The dual perspectives of time-domain and frequency-domain viewpoints allow a closer look at both the performance and robustness issues of control as done in classical single input/single output (SISO) control methods. For instance, the performance index once viewed in terms of frequency was shown to be an index penalizing key parameters such as the return difference matrix and its complement. Generalizing classical single-input and single-output methods, prescriptions for good multivariable feedback control were obtained and used to choose/modify the appropriate penalty matrices. Consequently, dynamic compensation resulted, allowing the use of generalized classical ideas on loop gain shaping to be applied. Further, the mu "norm" was introduced to obtain a nonconservative measure of stability robustness, thus allowing for the realization of a practical controller. And finally, due to the analytic nature of the approach, reliable and convenient computer tools were necessary and subsequently developed based on those found in Honeywell's HoneyX$\\sp{\\rm TM}$ library.","Made available in DSpace on 2014-12-15T21:41:35Z (GMT). No. of bitstreams: 1 8823189.pdf: 5933147 bytes, checksum: eda28b6377b5ef028c9c4a40022dd6d8 (MD5) Previous issue date: 1988","Embargo set by: Seth Robbins for item 70318 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","254 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1988."],"dc:identifier":["http://hdl.handle.net/2142/70152","(UMI)AAI8823189"],"dc:subject":["Engineering, System Science"],"dc:title":["Robust Yaw/roll Control of High-Speed Containerships"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:02Z"}